A fork of move_base with global planner capabilities removed. Kuri does not use move_base and did not ship with the necessary dependencies. Even if it had, move_base looks much different in newer releases thanks to TF2 adoption. To make the navigation component easy to develop, easy to deploy and easy to use in other contexts, this code is developed against the Melodic/Noetic releases of ROS Navigation. A Dockerfile is included for running on the robot.
Currently, the navigator node engages when launched, navigating the robot around the environment endlessly.
With the melodic-devel version of our Kuri code, launch a simulation:
roslaunch kuri_gazebo kuri_gazebo.launch
Now launch the navigator:
roslaunch wandering_behavior wandering_behavior.launch
Create a new workspace to hold this package and mount it in a Docker container using the image provided in docker/:
sudo docker run --rm --network host -v /home/mayfield/workspaces/melodic_ws:/workspace -it local-nav
In the container, build the workspace with catkin_make. Tweak the ROS_IP and ROS_HOSTNAME variables (in the entrypoint or in the shell) as needed to suit your network, then run the same launch file as used in simulation. Note that the ../env.sh may help you set the correct networking variables, and is documented in the readme in the executive_package. For more information, we'd recommend you read our wiki entry on using Docker with Kuri.